The development of active tactile sensors in the form of wrinkles and it's application to soft robotics
| Project/Area Number |
20J15087
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 国内 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Tokyo Institute of Technology (2021)
Japan Advanced Institute of Science and Technology (2020) |
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Principal Investigator |
QI QIUKAI 東京工業大学, 工学院, 特別研究員(PD)
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| Project Period (FY) |
2020-04-24 – 2022-03-31
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| Project Status |
Completed (Fiscal Year 2021)
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| Budget Amount *help |
¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 2021: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2020: ¥900,000 (Direct Cost: ¥900,000)
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| Keywords | Adaptive Morphology / Soft Gripper / Soft Sensor / Wrinkled Sensor / Wrinkled Actuator |
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| Outline of Research at the Start |
Inspired by the wrinkle patterns on human fingertips, this research studies how the touch sensing can be benefited by this morphology in order to reveal novel insights on designing smart, intelligent and active tactile sensing systems for robots.
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| Outline of Annual Research Achievements |
In the first half of this fiscal year, we had put more effort on our new prototypes, RetracTip and AdapTip, which were based on our earlier work on WrinTac. RetracTip is multifunctional gripper augmented with sensing capability. The multi-modal gripping function was achieved by the integration of a bistable membrane, an adaptive morphology that was inspired by the idea of variable morphology of WrinTac. We have characterized the performance of RetracTip in terms of gripping, sensing, and autonomous pick and place functionality, and finally published it in "Soft Robotics", a top journal in the area of robotics. AdapTip is an optical tactile sensor with adaptive morphology. We have done the design and modeling of this prototype, and hopefully we could publish this work in the near future.
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| Research Progress Status |
令和3年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
令和3年度が最終年度であるため、記入しない。
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Report
(2 results)
Research Products
(4 results)
